mirror of
https://github.com/PX4/PX4-Autopilot.git
synced 2026-05-14 00:20:36 +08:00
Julian Oes
344ada6216
Lets the navigator mark a setpoint whose AMSL `alt` is to be re-resolved from the EKF terrain estimate every loop, instead of being frozen at receipt time. Storing AGL + flag is what enables continuous tracking; one-shot AGL->AMSL conversion freezes the target as soon as the vehicle moves over new ground. Signed-off-by: Julian Oes <julian@oes.ch>
41 lines
2.5 KiB
Plaintext
41 lines
2.5 KiB
Plaintext
# this file is only used in the position_setpoint triple as a dependency
|
|
|
|
uint64 timestamp # time since system start (microseconds)
|
|
|
|
uint8 SETPOINT_TYPE_POSITION=0 # position setpoint
|
|
uint8 SETPOINT_TYPE_VELOCITY=1 # velocity setpoint
|
|
uint8 SETPOINT_TYPE_LOITER=2 # loiter setpoint
|
|
uint8 SETPOINT_TYPE_TAKEOFF=3 # takeoff setpoint
|
|
uint8 SETPOINT_TYPE_LAND=4 # land setpoint, altitude must be ignored, descend until landing
|
|
uint8 SETPOINT_TYPE_IDLE=5 # do nothing, switch off motors or keep at idle speed (MC)
|
|
|
|
uint8 LOITER_TYPE_ORBIT=0 # Circular pattern
|
|
uint8 LOITER_TYPE_FIGUREEIGHT=1 # Pattern resembling an 8
|
|
|
|
bool valid # true if setpoint is valid
|
|
uint8 type # setpoint type to adjust behavior of position controller
|
|
|
|
float32 vx # local velocity setpoint in m/s in NED
|
|
float32 vy # local velocity setpoint in m/s in NED
|
|
float32 vz # local velocity setpoint in m/s in NED
|
|
|
|
float64 lat # latitude, in deg
|
|
float64 lon # longitude, in deg
|
|
float32 alt # altitude AMSL, in m. Authoritative field consumed by the position controller. When alt_is_terrain_relative is true, the navigator re-resolves this each loop as alt_above_terrain + terrain_alt
|
|
bool alt_is_terrain_relative # true if the setpoint is meant to track terrain. The navigator keeps `alt` in sync with `alt_above_terrain + vehicle_global_position.terrain_alt`
|
|
float32 alt_above_terrain # [m] desired AGL when alt_is_terrain_relative is true; ignored otherwise. NaN means undefined
|
|
float32 yaw # yaw (only in hover), in rad [-PI..PI), NaN = leave to flight task
|
|
|
|
float32 loiter_radius # [m] [@range 0, INF] loiter major axis radius
|
|
float32 loiter_minor_radius # [m] [@range 0, INF] loiter minor axis radius (used for non-circular loiter shapes)
|
|
bool loiter_direction_counter_clockwise # loiter direction is clockwise by default and can be changed using this field
|
|
float32 loiter_orientation # [rad] [@range -pi, pi] orientation of the major axis with respect to true north
|
|
uint8 loiter_pattern # loitern pattern to follow
|
|
|
|
float32 acceptance_radius # horizontal acceptance_radius (meters)
|
|
float32 alt_acceptance_radius # vertical acceptance radius, only used for fixed wing guidance, NAN = let guidance choose (meters)
|
|
|
|
float32 cruising_speed # the generally desired cruising speed (not a hard constraint)
|
|
bool gliding_enabled # commands the vehicle to glide if the capability is available (fixed wing only)
|
|
float32 cruising_throttle # the generally desired cruising throttle (not a hard constraint), only has an effect for rover
|